Halo轨道的ASRE非线性留位控制方法

针对Halo轨道的留位控制问题,提出一种跟踪名义参考轨道的非线性最优跟踪控制策略.首先得到日-地系统第二平动点附近的有控制力作用下的轨道动力学方程,其次利用微分修正法得到要跟踪的名义参考轨道,然后将ASRE非线性最优跟踪控制方法与精细积分法相结合,针对Halo轨道的留位设计非线性控制器,最后利用数值算例验证了本文方法的...     

飞行时间不受约束的绳系卫星最优控制

研究了飞行时间不受约束的绳系卫星释放和回收过程的非线性最优控制问题.基于Chebyshev级数展开将高阶系统的状态约束和控制约束拟线性化,使问题转化成典型的线性二次规划问题,通过数值模拟验证了该方法的有效性,获得了绳系卫星轨道和控制力的时间最优历程.     

柱面坐标系下航天器仅测角相对导航算法

针对采用星载无源光学相机实现对空间非合作目标的相对导航时轨道状态不可观测/弱可观测的问题,研究了基于柱面坐标系相对运动动力学模型的仅测角相对导航算法.首先,在柱面坐标系下建立了三维的相对轨道运动动力学模型和视线角测量模型;然后,基于该模型进行了仅测角相对导航的状态可观测性分析,定性地获得了相对轨道状态可观测性更佳的几何...     

卫星在轨道平面内的可达范围研究

对在初始轨道上施加平面内幅值固定的脉冲后卫星的可达范围进行了研究. 考虑脉冲幅值较小、生成轨道均为椭圆的情况. 根据平面曲线族包络线的定义,针对不同任务的需求,考虑脉冲施加点固定而方向任意、脉冲施加点任意而方向固定、脉冲施加点和方向均任意的3种情况,分别给出了确定可达范围边界的方法. 数值仿真表明: 所提出的方法能够确切描述卫星可达范围的边界,所得结论对初始椭圆轨道的偏心率没有限制,可以用于单颗卫星机动范围的评估和不同卫星间安全距离的设计.      

含饱和作动器的基准建筑物混合控制研究

当作动器所提供的控制力小于所需控制力时会出现控制力饱和现象,这一现象在大型结构的实际控制过程中经常出现,为此,本文根据饱和控制力,采用线性矩阵不等式来设计控制器。考虑作动器饱和时,单纯采用作动器来控制结构在地震作用下的响应往往不足于保护结构,此时需附加阻尼器。最优阻尼的确定需要大量的计算,为了减少计算量,本文借鉴临界激励的概念来简化最优阻尼的选择。最后,以三层非线性基准结构为例来说明本文方法的可行性。     

基于D-P准则的压力相关材料结构拓扑优化

基于描述材料力学行为的Drucker-Prager(D-P)屈服准则, 研究了压力相关材料连续体结构拓扑优化设计问题的数学模型和数值算法. 以单元材料人工密度为设计变量, 结合SIMP惩罚模型和多孔微结构局部应力插值模型, 建立了以材料体积最小化为目标、考虑材料D-P屈服条件约束的优化问题数学模型. 利用\varepsilon-松弛方法消除奇异解现象, 采用伴随法有效推导约束函数灵敏度计算公式, 运用基于梯度的连续变量优化算法迭代求解优化问题. 数值算例验证了优化模型的正确性及数值算法的有效性, 并通过与von Mises应力约束优化结果的比较, 说明了材料的压力相关特性会对结构最优拓扑产生重要影响. 该方法设计出的最优拓扑由于充分利用了压力相关材料的抗压能力, 因而更为合理和实际.      

捷联主动雷达末制导信息提取及延时补偿设计

针对捷联雷达常规的惯性系视线角解耦方法在加入落角约束时需根据目标距离对落角进行补偿的不足,给出一种目标坐标系下捷联解耦方法.首先在预估目标点构建目标坐标系,利用坐标转换及雷达与目标相对运动关系构建关于视线角与相对距离的二阶非线性模型,结合扩展卡尔曼滤波解耦获得目标系视线角及角速度.其次在滤波解算视线角及角速度的过程中,...     

低轨纳卫星质量矩姿态控制技术研究

针对气动力矩严重影响低轨纳卫星姿态控制效果的问题,创新性地提出了利用质量矩技术将气动干扰转化为控制力矩的解决方法.由于气动力矩矢量垂直于大气来流速度方向,因而采用质量矩与磁力矩相结合的方式三轴全驱动控制卫星姿态,从而避免系统欠驱动. 建立双执行机构控制方式的姿态动力学模型,并根据各干扰项的影响简化了控制方程.针对气动力不确定、星体参数误差、未知环境影响等复杂干扰,设计了针对理想控制力矩基于干扰观测器的滑模控制器. 为减小滑块附加干扰力矩,研究了理想控制力矩的最优分配策略. 最后, 为双执行机构搭建了半物理仿真平台,结果表明: 姿态机动过程中, 与滑块加速度相关的附加惯性力矩远大于其他干扰项,最优力矩分配策略能够大幅减小快时变的附加干扰, 优化效果明显; 姿态保持过程中,干扰观测器能有效观测系统慢时变干扰, 提高滑模控制律的姿态控制精度,姿态角收敛误差小于$\pm $0.1$^\circ$.最终验证了在低轨纳卫星上利用质量矩技术控制姿态的可行性.      

箱形复合材料层板结构的内噪声优化控制

基于结构声强法研究了箱形复合材料层板结构在动荷载作用下的结构噪声控制.将叠层顺序为[45°/-45°/45°/-45°]的碳纤维/环氧层合板与铝板分别组成的箱形结构的被动和主动噪声控制进行了比较.应用MSC/NASTRAN商业软件计算了箱形复合材料层板结构表面在动荷载作用下各单元的力和速度,再应用MATLAB自编程序计算得出箱形复合材料层板结构表面的结构声强.根据结构声强向量图和流线图,可得出安置阻尼器和施加主动控制力的可能的有效位置.再利用声场计算得到安置阻尼器和施加主动控制力的最优有效位置.基于结构声强的噪声控制法为实际车辆和航空机舱提供了一种简洁而直观的内噪声控制的参考方法.     

有限推力多小行星探测轨迹优化

针对任务时长与燃料存在限制的多颗小行星之间顺序探测轨迹优化问题,利用极小值原理,建立了整个探测区间的最优控制问题并使用同伦算法进行求解. 其中将目标飞越、交会等约束作为内点约束,特别地对交会后停留一定时间的约束进行了转换处理,使其成为与交会约束类似的形式;并给出了考虑起始时间可滑动的情形的最优条件. 结果表明,该算法可快速得到整体最优的探测轨迹,可应用于小行星多目标探测的任务设计与轨迹规划中.     

SDRE-based near optimal nonlinear controller design for unified chaotic systems

This paper proposes a near optimal controller design method for unified chaotic systems based on state-dependent Riccati equation (SDRE) approach. A parameterization of the optimal nonlinear control gain is given in terms of the solution matrix of an SDRE. A simple algorithm to compute the near optimal control gain is proposed. The proposed near optimal control design method is also extended to the synchronization problem for unified chaotic systems. Finally, the effectiveness of the proposed design method is verified via numerical simulations.     

Decentralized coordinated attitude control for satellite formation flying via the state-dependent Riccati equation technique

The goal of the present study is to develop a decentralized coordinated attitude control algorithm for satellite formation flying. To handle the non-linearity of the dynamic system, the problems of absolute and relative attitude dynamics are formulated for the state-dependent Riccati equation (SDRE) technique. The SDRE technique is for the first time utilized as a non-linear controller of the relative attitude control problem for satellite formation flying, and then the results are compared to those from linear control methods, mainly the PD and LQR controllers. The stability region for the SDRE-controlled system was obtained using a numerical method. This estimated stability region demonstrates that the SDRE controller developed in the present paper guarantees the globally asymptotic stability for both the absolute and relative attitude controls. Moreover, in order to complement a non-selective control strategy for relative attitude error in formation flying, a selective control strategy is suggested. This strategy guarantees not only a reduction in unnecessary calculation, but also the mission-failure safety of the attitude control algorithm for satellite formation. The attitude control algorithm of the formation flying was tested in the orbital-reference coordinate system for the sake of applying the control algorithms to Earth-observing missions. The simulation results illustrate that the attitude control algorithm based on the SDRE technique can robustly drive the attitude errors to converge to zero.     

Observer-based controller for discrete-time systems: a state dependent Riccati equation approach

In this paper, an observer-based controller for discrete-time nonlinear dynamical systems is proposed. After transforming the nonlinear system to a linear structure having state-dependent coefficient matrices (SDC), a recursive regularized least-square (RLS) state estimator is developed. The observed states are then used to generate either a constrained or unconstrained state feedback controller using the state dependent Riccati equation (SDRE) approach. The stability of the observer-based control system is rigorously analyzed in a theoretical frame work. Applications to different numerical examples as well as to a practical case study demonstrate the effectiveness of the proposed procedure.     

Optimal nonlinear feedback control of spacecraft rendezvous with finite low thrust between libration orbits

This paper presents the nonlinear closed-loop feedback control strategy for the spacecraft rendezvous problem with finite low thrust between libration orbits in the Sun–Earth system. The model of spacecraft rendezvous takes the perturbations in initial states, the actuator saturation limits, the measurement errors, and the external disturbance forces into consideration from an engineering point of view. The proposed nonlinear closed-loop feedback control strategy is not analytically explicit; rather, it is implemented by a rapid re-computation of the open-loop optimal control at each update instant. To guarantee the computational efficiency, a novel numerical algorithm for solving the open-loop optimal control is given. With the aid of the quasilinearization method, the open-loop optimal control problem is replaced successfully by a series of sparse symmetrical linear equations coupled with linear complementary problem, and the computational efficiency can be significantly increased. The numerical simulations of spacecraft rendezvous problems in the paper well demonstrate the robustness, high precision, and dominant real-time merits of the proposed closed-loop feedback control strategy.     

Magnetic torque attitude control of a satellite using the state-dependent Riccati equation technique

A non-linear attitude control method for a satellite with magnetic torque rods using the state-dependent Riccati equation (SDRE) technique has been developed. The magnetic torque caused by the interaction with the Earth's magnetic field and the magnetic moment of torque rods plays a role of the control torque. The detailed equations of motion for this system are presented using angular velocity and quaternions. The SDRE controller is developed for the non-linear systems which can be formed in pseudo-linear representations using the state-dependent coefficient (SDC) method without linearization procedure. The aim of this control system is to achieve a stable attitude within 5°, and minimize the control effort. The stability regions for the SDRE controlled satellite system are estimated through the investigation of the stability conditions developed for pseudo-linear systems and the application of Lyapunov's theorem. For comparisons, the Linear Quadratic Regulator (LQR) method using the solution of the algebraic Riccati equation (ARE) is also applied to this non-linear system. The performance of the SDRE non-linear control system demonstrates more robustness and stability than the LQR control system when subjected to a wide range of initial conditions.     

Optimal motion planning of non-linear dynamic systems in the presence of obstacles and moving boundaries using SDRE: application on cable-suspended robot

In this paper a closed-loop non-linear optimal controller is designed via State Dependent Riccati Equation (SDRE) and employed for a spatial six-cable robot. SDRE provides a systematic and effective design of controller for non-linear systems. The power series approximation method is extended and used to solve SDRE. Trajectory tracking along with point to point movement is carried out. Moreover, two common constraints of optimal path planning, i.e., obstacles and moving boundaries are studied, and proper strategies are proposed to deal with these constraints. Obstacle avoidance technique used in this paper is based on the concept of Artificial Potential Field, while calculus of variations is applied to choose the optimal initial or end points from the moving boundaries. Capabilities of SDRE method provides an outstanding opportunity to be combined with the considered strategies. Simulations for the spatial six-cable robot are done, and Dynamic Load Carrying Capacity is computed to illustrate the efficiency of the employed procedure. Finally the results are validated by experimental tests conducted on ICaSbot which is a spatial six-cable robot manufactured in robotics research laboratory of Iran University of Science and Technology.     

Robust chaos synchronizations using an SDRE-based sub-optimal control approach

This paper presents a robust control via a sub-optimal approach, which is achieved by the SDRE control. The proposed approach is to transform a robust control problem into an optimal control problem, where the uncertainties are reflected in the performance index. Thus, the optimal control problem is solved by the SDRE control. Four types of robust control problems are presented, and each type is illustrated by a robust chaos synchronization example. The results show that the proposed approach can effectively regulate the error dynamics of the chaos synchronization.     

A Theoretical and Experimental Investigation of Torsional-Flexural Buckling in Thin-Walled Prismatic Members

In a previous paper [1]the authors presented a general solution to the problem of thin-walled prismatic members of doubly symmetric open cross section loaded by end forces only. Deep sections, in which the second moment of area about the major principal axis is much greater than that about the minor principal axis, were considered. Thus deflections due to major axis bending could be ignored. The end forces included an axial thrust and unequal major axis moment, both of which were considered constant. Force-deflection equations for the member were derived and the influence of the axial thrust and major axis moments upon these was considered.

In the present paper the general solution is applied to the problem of buck-ling in such members. Three sets o f end conditions-pinned, fixed. and mini-mum restraint-are considered. Formal and finite difference solutions are presented for each of these so that an independent check on all the theoretical results is obtained. A major portion of the paper is devoted to reporting an extensive series of tests cvried out on members of I and rectangular cross section. These are concerned with investigating all the major theoretical results o f this and the previous paper. Ageement is found to be good.     

基于星历匹配法的载人小行星探测轨迹优化问题求解

对基于星历匹配法的载人小行星探测轨迹优化问题解法进行了研究. 提出星历匹配法的概念,利用其求出最优发射窗口初值与候选最优探测序列,然后利用遗传算法对特定探测序列的时间节点等参数进行优化,最后利用基于庞德里亚金极大值原理的同伦法进行小推力转化以求得最终探测轨道及其推力控制律. 结果显示星历匹配法可以快速准确地求出最优发射窗口初值与候选探测序列,这大大提高了载人小行星探测等多目标交会探测问题的求解效率.     

基于移动可变形组件法(MMC)的运载火箭传力机架结构的轻量化设计

传力机架是运载火箭箭体与发动机连接的关键部件,负责将发动机推力载荷有效的传递至箭体,其结构的轻量化设计不仅可以保障火箭发动机的推重比、提高火箭的稳定性,还可以为我国未来可重复使用式火箭的研究提供一定的参考.本文在移动可变形组件(moving morphable component, MMC)的框架下,提出了一种解决传力机架结构轻量化设计的方法.在该方法中,机架结构的拓扑通过一组具有显式几何信息的组件来表示,这使最终优化布局可以被少量的设计变量所描述.通过分析传力机架结构设计的特点和要求,以刚度最大化为目标,体积分数(保证结构重量)为约束,建立了基于MMC显式拓扑优化方法下的问题列式.同时搭建了可对工程中传力机架结构轻量化设计的平台,并进行相应结构的拓扑优化.在两种载荷工况(即零位状态和摇摆状态)作用下,最终优化结果在中间推力载荷区域与锥段相连位置之间,所形成的较大翼板结构增强了传力机架的抗弯能力.通过与传统机架结构的对比,证明了本文所提出方法在传力机架结构轻量化设计方面的有效性.